751 lines
23 KiB
Python
751 lines
23 KiB
Python
from enum import Enum
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from loguru import logger
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from utils import label_filter
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from utils import tlabel
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from utils import LLM
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import utils
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import toml
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import zmq
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import time
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context = zmq.Context()
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socket = context.socket(zmq.REQ)
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socket.connect("tcp://localhost:6667")
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logger.info("subtask yolo client init")
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cfg = toml.load('cfg_subtask.toml') # 加载任务配置
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logger.info("load subtask config")
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by_cmd = None
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filter = None
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llm_bot = None
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'''
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description: main.py 里执行 引入全局变量
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param {*} _by_cmd 控制器对象
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return {*}
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'''
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def import_obj(_by_cmd):
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global by_cmd
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global filter
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global llm_bot
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by_cmd = _by_cmd
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filter = label_filter(socket)
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if cfg['move_area']['llm_enable']:
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llm_bot = LLM()
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def car_stop():
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for _ in range(3):
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by_cmd.send_speed_x(0)
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time.sleep(0.2)
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by_cmd.send_speed_omega(0)
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def calibrate_right_new(label, offset, run = True, run_speed = 3.5):
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ret, error = filter.aim_right(label)
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while not ret:
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ret, error = filter.aim_right(label)
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error += offset
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if abs(error) > 10 and run:
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if error > 0:
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by_cmd.send_speed_x(-run_speed)
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else:
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by_cmd.send_speed_x(run_speed)
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# 停的位置已经很接近目标，可以直接使用 distance 校准
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else:
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error = error * 3
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if error > 0:
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by_cmd.send_distance_x(-10, int(error))
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else:
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by_cmd.send_distance_x(10, int(-error))
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return
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while True:
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ret, error = filter.aim_right(label)
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while not ret:
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ret, error = filter.aim_right(label)
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error += offset
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if ret:
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if abs(error) <= 5:
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car_stop()
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logger.info("可以停车了")
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ret, error = filter.aim_right(label)
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while not ret:
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ret, error = filter.aim_right(label)
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error += offset
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if abs(error) > 8:
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error = error * 3
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if error > 0:
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by_cmd.send_distance_x(-10, int(error))
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else:
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by_cmd.send_distance_x(10, int(-error))
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break
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'''
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description: 校准新方法 找到后停止 然后根据 error 判断前后低速前进 error < 5 后直接停车
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如果停车后 error > 8 则使用 distance 校准
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这个方法仅用于在视野里能找到的情况下进行校准，并不能实现边走边寻找 然后再校准
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param {*} label
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param {*} offset
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param {*} run
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param {*} run_speed
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return {*}
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'''
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def calibrate_new(label, offset, run = True, run_speed = 3.5):
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ret, box = filter.get(label)
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while not ret:
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ret, box = filter.get(label)
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error = (box[0][2] + box[0][0] - 320) / 2 + offset
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if abs(error) > 10 and run:
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if error > 0:
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by_cmd.send_speed_x(-run_speed)
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else:
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by_cmd.send_speed_x(run_speed)
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# 停的位置已经很接近目标，可以直接使用 distance 校准
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else:
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error = error * 3
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if error > 0:
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by_cmd.send_distance_x(-10, int(error))
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else:
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by_cmd.send_distance_x(10, int(-error))
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return
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while True:
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ret, box = filter.get(label)
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while not ret:
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ret, box = filter.get(label)
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error = (box[0][2] + box[0][0] - 320) / 2 + offset
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if ret:
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if abs(error) <= 5:
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car_stop()
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logger.info("可以停车了")
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ret, box = filter.get(label)
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while not ret:
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ret, box = filter.get(label)
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error = (box[0][2] + box[0][0] - 320) / 2 + offset
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if abs(error) > 8:
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error = error * 3
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if error > 0:
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by_cmd.send_distance_x(-10, int(error))
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else:
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by_cmd.send_distance_x(10, int(-error))
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break
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def explore_calibrate_new(label, offset, run_direc ,run_speed = 3.5):
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# run_direc == 1 向前
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if run_direc == 1:
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by_cmd.send_speed_x(run_speed)
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else:
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by_cmd.send_speed_x(-run_speed)
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while True:
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ret, box = filter.get(label)
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while not ret:
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ret, box = filter.get(label)
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error = (box[0][2] + box[0][0] - 320) / 2 + offset
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if ret:
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# 校准速度越大 停车的条件越宽泛
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if abs(error) <= 15:
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car_stop()
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logger.info("可以停车了")
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ret, box = filter.get(label)
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while not ret:
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ret, box = filter.get(label)
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error = (box[0][2] + box[0][0] - 320) / 2 + offset
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logger.info(f"停车后像素误差:{error}")
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if abs(error) > 8:
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error = error * 3
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if error > 0:
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by_cmd.send_distance_x(-10, int(error))
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else:
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by_cmd.send_distance_x(10, int(-error))
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break
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# 任务类
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class task:
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def __init__(self, task_template, find_counts=10, enable=True):
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self.enable = enable
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self.task_t = task_template()
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self.counts = 0
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self.find_counts = find_counts
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def init(self):
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self.task_t.init()
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def find(self):
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# 检查该任执行标志
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while True:
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ret = self.task_t.find()
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self.counts += ret
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if self.counts >= self.find_counts:
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break
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def exec(self):
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# 根据标志位确定是否执行该任务
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if self.enable is True:
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logger.debug(f"[Task ]# Executing task")
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self.task_t.exec()
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logger.debug(f"[Task ]# Task completed")
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else:
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logger.warning(f"[Task ]# Skip task")
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self.task_t.nexec()
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# 任务队列状态类
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class task_queuem_status(Enum):
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IDEL = 0
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SEARCHING = 1
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EXECUTING = 2
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# 任务队列类 非 EXECUTEING 时均执行 huigui，注意互斥操作
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class task_queuem(task):
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# task_now = task(None, False)
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def __init__(self, queue):
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super(task_queuem, self)
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self.queue = queue
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self.status = task_queuem_status.IDEL
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self.busy = True
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logger.info(f"[TaskM]# Task num {self.queue.qsize()}")
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def exec(self):
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# 如果空闲状态则将下一个队列任务取出
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if self.status is task_queuem_status.IDEL:
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if self.queue.qsize() == 0:
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self.busy = False
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logger.info(f"[TaskM]# Task queue empty, exit")
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return False
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self.task_now = self.queue.get()
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# 如果当前任务没有使能，则直接转入执行状态，由任务执行函数打印未执行信息
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if self.task_now.enable is True:
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self.status = task_queuem_status.SEARCHING
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# 如果使能该任务则执行该任务的初始化动作
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self.task_now.init()
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else:
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self.status = task_queuem_status.EXECUTING
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logger.info(f"[TaskM]# ---------------------->>>>")
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# 阻塞搜索任务标志位
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elif self.status is task_queuem_status.SEARCHING:
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logger.info(f"[TaskM]# Start searching task target")
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self.task_now.find()
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self.status = task_queuem_status.EXECUTING
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# 执行任务函数
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elif self.status is task_queuem_status.EXECUTING:
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logger.info(f"[TaskM]# Start execute task function")
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self.task_now.exec() # 执行当前任务函数
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self.queue.task_done() # 弹出已执行的任务
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self.status = task_queuem_status.IDEL #
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logger.info(f"[TaskM]# <<<<----------------------")
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return True
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# 人员施救
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class get_block():
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def init(self):
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logger.info("人员施救初始化")
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filter.switch_camera(1)
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if cfg['get_block']['first_block'] == "blue":
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self.target_label = tlabel.BBLOCK
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self.another_label = tlabel.RBLOCK
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cfg['get_block']['first_block'] = ''
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else:
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self.target_label = tlabel.RBLOCK
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self.another_label = tlabel.BBLOCK
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def find(self):
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# 目标检测红/蓝方块
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ret = filter.find(self.target_label)
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if ret > 0:
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return True
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return False
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def exec(self):
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car_stop()
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calibrate_new(self.target_label, offset = 12)
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logger.info("抓取块")
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time.sleep(3)
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pass
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# 调试 临时注释掉
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# calibrate(tlabel.RBLOCK,15)
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# time.sleep(2)
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# by_cmd.send_position_axis_z(10, 150)
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# time.sleep(5)
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# by_cmd.send_angle_claw_arm(127)
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# time.sleep(1)
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# by_cmd.send_position_axis_x(4, 140)
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# time.sleep(4)
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# by_cmd.send_angle_claw_arm(220)
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# by_cmd.send_angle_claw(90)
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# time.sleep(1)
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# by_cmd.send_distance_axis_z(10, -70)
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# time.sleep(3)
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# by_cmd.send_angle_claw(27)
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# by_cmd.send_distance_axis_z(10, 10)
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# time.sleep(2)
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# by_cmd.send_distance_axis_x(4, -100)
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# time.sleep(1)
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# by_cmd.send_distance_axis_z(10, -40)
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# time.sleep(3)
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# by_cmd.send_angle_claw(35)
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# time.sleep(1)
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# by_cmd.send_position_axis_z(10, 150)
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# time.sleep(3)
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# by_cmd.send_position_axis_x(2, 140)
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# # 抓取第二个块后 收爪
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# time.sleep(3)
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# by_cmd.send_position_axis_x(4, 0)
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def nexec(self):
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# TODO 完成不执行任务的空动作
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pass
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# 紧急转移
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class put_block():
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def init(self):
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logger.info("紧急转移初始化")
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socket.send_string("1")
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socket.recv()
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def find(self):
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# 目标检测医院
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ret, box = filter.get(tlabel.HOSPITAL)
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if ret > 0:
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width = box[0][2] - box[0][0]
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if width > 120:
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return True
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return False
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def exec(self):
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logger.info("找到医院")
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car_stop()
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calibrate_new(tlabel.HOSPITAL, offset = 7, run = False)
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time.sleep(3)
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# by_cmd.send_position_axis_z(10, 150)
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# time.sleep(3)
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# # TODO 切换爪子方向
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# by_cmd.send_position_axis_x(2, 140)
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# time.sleep(2)
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# by_cmd.send_position_axis_z(10, 170)
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pass
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def nexec(self):
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pass
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# 整装上阵
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class get_bball():
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def init(self):
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while (by_cmd.send_angle_camera(90) == -1):
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by_cmd.send_angle_camera(90)
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by_cmd.send_position_axis_z(10, 130)
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time.sleep(0.5)
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by_cmd.send_position_axis_x(1, 0)
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time.sleep(0.5)
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by_cmd.send_angle_storage(0)
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# 调试 临时换源
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socket.send_string("1")
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socket.recv()
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logger.info("整装上阵初始化")
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time.sleep(0.5)
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def find(self):
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# 目标检测蓝球
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ret = filter.find(tlabel.BBALL)
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if ret:
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return True
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return False
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def exec(self):
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logger.info("找到蓝色球")
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car_stop()
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time.sleep(0.5)
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for _ in range(3):
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calibrate_right_new(tlabel.BBALL, offset = 27, run = True, run_speed = 4)
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logger.info("抓蓝色球")
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by_cmd.send_angle_claw_arm(36)
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by_cmd.send_angle_claw(54)
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by_cmd.send_position_axis_x(1, 140)
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time.sleep(1)
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by_cmd.send_angle_claw(70)
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time.sleep(1)
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by_cmd.send_angle_claw(30)
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time.sleep(1)
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by_cmd.send_distance_axis_z(10, 20)
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time.sleep(2)
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by_cmd.send_position_axis_x(1, 0)
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time.sleep(1)
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by_cmd.send_angle_claw_arm(82)
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time.sleep(1)
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by_cmd.send_angle_claw(54)
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time.sleep(1)
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by_cmd.send_angle_claw_arm(36)
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time.sleep(1)
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by_cmd.send_distance_axis_z(10, -20)
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time.sleep(1)
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# by_cmd.send_position_axis_z(20, 160)
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# time.sleep(2)
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# by_cmd.send_position_axis_x(2, 70)
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# time.sleep(2)
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# by_cmd.send_angle_claw(90)
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# time.sleep(0.2)
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# by_cmd.send_position_axis_x(2, 0)
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# time.sleep(2)
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# by_cmd.send_angle_claw(27)
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# time.sleep(1)
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# by_cmd.send_position_axis_z(20, 180)
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# time.sleep(1)
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# by_cmd.send_position_axis_x(4, 45)
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# time.sleep(1)
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# by_cmd.send_position_axis_z(20, 140)
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# time.sleep(3)
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# by_cmd.send_position_axis_x(2, 140)
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# time.sleep(2)
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# by_cmd.send_angle_claw(90)
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pass
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def nexec(self):
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pass
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# 通信抢修
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class up_tower():
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def init(self):
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logger.info("通信抢修初始化")
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while (by_cmd.send_angle_camera(90) == -1):
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by_cmd.send_angle_camera(90)
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def find(self):
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# 目标检测通信塔
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ret = filter.find(tlabel.TOWER)
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if ret:
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return True
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return False
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def exec(self):
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logger.info("找到塔")
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car_stop()
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calibrate_new(tlabel.TOWER, offset = 27, run = True)
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time.sleep(0.5)
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# calibrate(tlabel.TOWER, 27, False, 6)
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time.sleep(3)
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while True:
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pass
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def nexec(self):
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pass
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# 高空排险
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class get_rball():
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def init(self):
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logger.info("高空排险初始化")
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while (by_cmd.send_angle_camera(0) == -1):
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by_cmd.send_angle_camera(0)
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def find(self):
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# 目标检测红球
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ret = filter.find(tlabel.RBALL)
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if ret > 0:
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return True
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else:
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return False
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def exec(self):
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logger.info("找到红球")
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car_stop()
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calibrate_new(tlabel.RBALL,offset = -4, run = True)
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time.sleep(1)
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by_cmd.send_distance_y(-10, 65)
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time.sleep(1)
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by_cmd.send_distance_x(-10, 80)
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time.sleep(1)
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logger.info("抓红球")
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while True:
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pass
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pass
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def nexec(self):
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pass
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# 派发物资
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class put_bball():
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def init(self):
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logger.info("派发物资初始化")
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socket.send_string("1")
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socket.recv()
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while (by_cmd.send_angle_camera(90) == -1):
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by_cmd.send_angle_camera(90)
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def find(self):
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ret = filter.find(tlabel.BASKET)
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if ret > 0:
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return True
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else:
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return False
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def exec(self):
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logger.info("找到篮筐")
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car_stop()
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calibrate_new(tlabel.BASKET,offset = -15, run = True, run_speed = 5.5)
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by_cmd.send_distance_y(-10, 65)
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time.sleep(1)
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by_cmd.send_angle_storage(55)
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logger.info("把球放篮筐里")
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time.sleep(1)
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by_cmd.send_distance_y(10, 65)
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time.sleep(1)
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|
||
pass
|
||
def nexec(self):
|
||
pass
|
||
|
||
|
||
# 物资盘点
|
||
class put_hanoi1():
|
||
def init(self):
|
||
logger.info("物资盘点 1 初始化")
|
||
socket.send_string("2")
|
||
socket.recv()
|
||
def find(self):
|
||
ret, label, error = filter.get_mult_box([tlabel.LMARK, tlabel.RMARK])
|
||
if label == tlabel.RMARK:
|
||
if abs(error) < 55:
|
||
logger.info("向右拐")
|
||
utils.direction_right += 1
|
||
return True
|
||
return False
|
||
elif label == tlabel.LMARK:
|
||
if abs(error) < 50:
|
||
logger.info("向左拐")
|
||
utils.direction_left += 1
|
||
return True
|
||
return False
|
||
else:
|
||
return False
|
||
def exec(self):
|
||
global direction
|
||
for _ in range(3):
|
||
by_cmd.send_speed_x(0)
|
||
time.sleep(0.2)
|
||
by_cmd.send_speed_omega(0)
|
||
time.sleep(0.2)
|
||
|
||
# 校准牌子
|
||
if utils.direction_right > utils.direction_left:
|
||
ret, error = filter.aim_near(tlabel.RMARK)
|
||
while not ret:
|
||
ret, error = filter.aim_near(tlabel.RMARK)
|
||
utils.direction = tlabel.RMARK
|
||
logger.info("应该向右转")
|
||
else:
|
||
ret, error = filter.aim_near(tlabel.LMARK)
|
||
while not ret:
|
||
ret, error = filter.aim_near(tlabel.LMARK)
|
||
utils.direction = tlabel.LMARK
|
||
logger.info("应该向左转")
|
||
# 校准 omega
|
||
if error > 0:
|
||
by_cmd.send_angle_omega(-20,abs(utils.lane_error))
|
||
else:
|
||
by_cmd.send_angle_omega(20,abs(utils.lane_error))
|
||
time.sleep(0.5)
|
||
car_stop()
|
||
time.sleep(0.5)
|
||
by_cmd.send_distance_x(10, 200)
|
||
time.sleep(0.5)
|
||
# 根据岔路口切换爪子的方向
|
||
if utils.direction_right > utils.direction_left:
|
||
pass
|
||
else:
|
||
|
||
pass
|
||
time.sleep(1.5)
|
||
if utils.direction_right > utils.direction_left:
|
||
utils.direction = tlabel.RMARK
|
||
by_cmd.send_angle_omega(-25,430)
|
||
time.sleep(2)
|
||
while (by_cmd.send_angle_camera(90) == -1):
|
||
by_cmd.send_angle_camera(90)
|
||
else:
|
||
utils.direction = tlabel.LMARK
|
||
by_cmd.send_angle_omega(25,430)
|
||
time.sleep(2)
|
||
while (by_cmd.send_angle_camera(180) == -1):
|
||
by_cmd.send_angle_camera(180)
|
||
time.sleep(0.5)
|
||
socket.send_string("1")
|
||
socket.recv()
|
||
pass
|
||
def nexec(self):
|
||
pass
|
||
|
||
class put_hanoi2():
|
||
def __init__(self):
|
||
|
||
if utils.direction_right > utils.direction_left:
|
||
self.offset = 25
|
||
else:
|
||
self.offset = 15
|
||
self.pos_lp = cfg['put_hanoi2']['pos_lp']
|
||
self.pos_mp = cfg['put_hanoi2']['pos_mp']
|
||
self.pos_sp = 6 - self.pos_lp - self.pos_mp
|
||
if self.pos_lp == 1:
|
||
self.target_label = tlabel.LPILLER
|
||
elif self.pos_mp == 1:
|
||
self.target_label = tlabel.MPILLER
|
||
else:
|
||
self.target_label = tlabel.SPILLER
|
||
self.distance_lp = self.pos_lp * cfg['put_hanoi2']['pos_gap']
|
||
self.distance_mp = self.pos_mp * cfg['put_hanoi2']['pos_gap']
|
||
self.distance_sp = self.pos_sp * cfg['put_hanoi2']['pos_gap']
|
||
logger.info(f"setting hanoi pos_lp[{self.pos_lp}] pos_mp[{self.pos_mp}] pos_sp[{self.pos_sp}]")
|
||
def init(self):
|
||
logger.info("物资盘点 2 初始化")
|
||
def find(self):
|
||
ret, box = filter.get(self.target_label)
|
||
if ret:
|
||
utils.task_speed = 8.5
|
||
error = (box[0][2] + box[0][0] - 320) / 2 + self.offset
|
||
if abs(error) < 40:
|
||
return True
|
||
return False
|
||
|
||
def exec(self):
|
||
logger.info(f"offset:{self.offset}")
|
||
utils.task_speed = 0
|
||
car_stop()
|
||
time.sleep(0.5)
|
||
# by_cmd.send_distance_x(-8, cfg['put_hanoi2']['pos_gap'] - 30)
|
||
time.sleep(1)
|
||
explore_calibrate_new(tlabel.LPILLER, offset = self.offset, run_direc = 1, run_speed = 6)
|
||
logger.info("抓大平台")
|
||
time.sleep(5)
|
||
explore_calibrate_new(tlabel.TPLATFORM, offset = self.offset, run_direc = -1, run_speed = 6)
|
||
logger.info("放大平台")
|
||
time.sleep(5)
|
||
|
||
explore_calibrate_new(tlabel.MPILLER, offset = self.offset, run_direc = 1, run_speed = 6)
|
||
logger.info("抓中平台")
|
||
time.sleep(5)
|
||
explore_calibrate_new(tlabel.TPLATFORM, offset = self.offset, run_direc = -1, run_speed = 6)
|
||
logger.info("放中平台")
|
||
time.sleep(5)
|
||
|
||
|
||
explore_calibrate_new(tlabel.SPILLER, offset = self.offset, run_direc = 1, run_speed = 6)
|
||
logger.info("抓小平台")
|
||
time.sleep(5)
|
||
explore_calibrate_new(tlabel.TPLATFORM, offset = self.offset, run_direc = -1, run_speed = 6)
|
||
logger.info("放小平台")
|
||
time.sleep(5)
|
||
while True:
|
||
pass
|
||
# 往回走一段 然后向前行进校准
|
||
|
||
time.sleep(1)
|
||
logger.info(f"方向{direction}")
|
||
|
||
if utils.lane_error > 0:
|
||
by_cmd.send_angle_omega(-20,abs(utils.lane_error))
|
||
else:
|
||
by_cmd.send_angle_omega(20,abs(utils.lane_error))
|
||
|
||
time.sleep(1)
|
||
sub_put_hanoi2(tlabel.LPILLER, self.distance_lp, True, True)
|
||
time.sleep(5)
|
||
# 对准中蓝色柱体
|
||
sub_put_hanoi2(tlabel.MPILLER, self.distance_mp, True, True)
|
||
time.sleep(5)
|
||
# 根据 direction 确定移动方向
|
||
# 移动 self.distance_mp 距离
|
||
# 放置物块
|
||
# 回移相同距离
|
||
sub_put_hanoi2(tlabel.SPILLER, self.distance_sp, True, True)
|
||
time.sleep(5)
|
||
# 对准小红色柱体
|
||
# 根据 direction 确定移动方向
|
||
# 移动 self.distance_sp 距离
|
||
# 放置物块
|
||
pass
|
||
def nexec(self):
|
||
pass
|
||
|
||
# 应急避险 第一阶段 找目标牌
|
||
class move_area1():
|
||
def init(self):
|
||
logger.info("应急避险第一阶段初始化")
|
||
while (by_cmd.send_angle_camera(180) == -1):
|
||
by_cmd.send_angle_camera(180)
|
||
def find(self):
|
||
ret = filter.find(tlabel.SIGN)
|
||
if ret:
|
||
return True
|
||
return False
|
||
def exec(self):
|
||
logger.info("找到标示牌")
|
||
# 停车 ocr 识别文字 调用大模型
|
||
car_stop()
|
||
time.sleep(2)
|
||
utils.task_speed = 8
|
||
pass
|
||
def nexec(self):
|
||
pass
|
||
# 应急避险 第二阶段 找停车区域
|
||
class move_area2():
|
||
def init(self):
|
||
logger.info("应急避险第二阶段初始化")
|
||
self.offset = 15
|
||
def find(self):
|
||
# time.sleep(0.001)
|
||
ret, box = filter.get(tlabel.SHELTER)
|
||
if ret:
|
||
error = (box[0][2] + box[0][0] - 320) / 2 + self.offset
|
||
if abs(error) < 10:
|
||
return 5000
|
||
return False
|
||
def exec(self):
|
||
utils.task_speed = 0
|
||
logger.info("开始寻找停车区域")
|
||
car_stop()
|
||
calibrate_new(tlabel.SHELTER, offset = 15, run = True)
|
||
time.sleep(1)
|
||
# 进入停车区域
|
||
by_cmd.send_distance_y(10, 450)
|
||
time.sleep(3)
|
||
|
||
# TODO 调用大模型 然后执行动作
|
||
by_cmd.send_light(1)
|
||
time.sleep(2)
|
||
by_cmd.send_light(0)
|
||
# 离开停车区域
|
||
by_cmd.send_distance_y(-10, 450)
|
||
time.sleep(3)
|
||
|
||
pass
|
||
def nexec(self):
|
||
pass
|
||
# 扫黑除暴
|
||
class kick_ass():
|
||
def init(self):
|
||
logger.info("扫黑除暴初始化")
|
||
self.pos_gap1 = cfg['kick_ass']['pos_gap1']
|
||
self.pos_gap2 = cfg['kick_ass']['pos_gap2']
|
||
self.target_person = cfg['kick_ass']['target_person']
|
||
def find(self):
|
||
ret = filter.find(tlabel.SIGN)
|
||
if ret:
|
||
return True
|
||
return False
|
||
def exec(self):
|
||
logger.info("找到标示牌")
|
||
# 停的晚无需校准 omage
|
||
car_stop()
|
||
time.sleep(1)
|
||
calibrate_new(tlabel.SIGN, offset = 8, run = True)
|
||
time.sleep(0.5)
|
||
|
||
|
||
if self.target_person == 1:
|
||
target_distance = self.pos_gap1
|
||
else:
|
||
target_distance = self.pos_gap1 + (self.target_person - 1) * self.pos_gap2 + (self.target_person - 1) * 10
|
||
by_cmd.send_distance_x(10, target_distance)
|
||
time.sleep(2)
|
||
time.sleep(5)
|
||
pass
|
||
def nexec(self):
|
||
pass
|
||
|